CN108601569A - 便携式医学成像系统 - Google Patents

便携式医学成像系统 Download PDF

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CN108601569A
CN108601569A CN201780009808.8A CN201780009808A CN108601569A CN 108601569 A CN108601569 A CN 108601569A CN 201780009808 A CN201780009808 A CN 201780009808A CN 108601569 A CN108601569 A CN 108601569A
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N·约翰逊
R·史蒂文斯
H·塞勒姆
Y·程
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Globus Medical Inc
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Abstract

本发明涉及医学成像装置、系统及其方法。所述医学成像系统可以包括可移动台和机架。所述可移动台包括可旋转地附连到所述机架的机架安装架。所述机架包括可滑动地安装到所述机架安装架并可操作以相对于所述机架安装架滑动的外部C形臂、可滑动地连接到所述外部C形臂的内部C形臂以及附连到所述C形臂的成像信号发射器和传感器。两个C形臂一起工作以提供成像信号发射器的完整的360度旋转。所述可移动台可以包括运动控制系统和成像控制系统。在实施例中，所述运动控制系统包括用于所述可移动台的精确受控移动的全向轮。

Description

便携式医学成像系统
相关申请的交叉引用
本申请是于2016年2月3日提交的美国专利15/014083的部分继续申请，其全部内容通过引用合并于此以用于所有目的。
技术领域
本公开涉及医学成像系统，并且更具体地，涉及所述成像系统或其部件的受控运动。
背景技术
医疗保健实践已经显示了三维成像(如计算机断层扫描(CT)成像)作为在放射科的诊断工具的巨大价值。这些成像系统通常包含患者从头部或脚部进入的固定孔。其他护理领域(包括手术室、重症监护科和急诊科)依靠二维成像(荧光透视、超声波、二维移动式X射线)作为诊断和治疗指导的主要手段。
虽然存在针对“非放射科”和以患者为中心的3D成像的移动解决方案，但它们往往受到移动自由的限制，而无法在无需移动患者的情况下来有效定位系统。它们受限的移动自由阻碍了移动式三维成像系统的接受和使用。
因此，需要在手术室、操作室、重症监护室、急诊科和医院的其他部分、在门诊手术中心、医生办公室和军事战场等中使用的小型和/或移动式三维成像系统，其可以在任何方向或高度接近患者并产生高质量的三维图像。这些成像系统可以包括手术中CT和磁共振成像(MRI)扫描仪、机器人系统以帮助其使用或移动。这些系统包括具有180度移动能力的系统(“C形臂”)，还可能包括具有360度移动能力的成像系统(“O形臂”)。
在手术或其他程序期间需要实时图像来指导手术室人员时，这些系统可能非常有用。成像过程中的一个问题是成像系统的精确定位。这在手术室或手术间尤为重要，其中成像设备的尺寸和重量以及众多所需人员的存在使得难以精确定位成像设备。
发明内容
根据一个方面，提供一种新型医学成像系统。医学成像系统包括可移动台和机架。可移动台包括可旋转地附连到机架的机架安装架。机架包括可滑动地安装到机架安装架并可操作以相对于机架安装架滑动的第一C形臂、可滑动地连接到第一C形臂的第二C形臂以及附连到其中一个C形臂的成像信号发射器和附连到其中一个C形臂的成像传感器。两个C形臂一起工作以提供成像信号发射器的完整的360度旋转。
根据另一方面，提供一种便携式医学成像系统。便携式医学成像系统包括可移动台、附连到可移动台的机架安装架和可旋转地附连到机架安装架的机架，机架包括：第一C形臂，可滑动地安装到所述机架安装架并能够操作成相对于所述机架安装架滑动。便携式医学成像系统还包括：第二C形臂，可滑动地连接到所述第一C形臂；成像信号发射器，附连到第二C形臂，并可操作地与成像信号发射器连接，所述第一C形臂和所述第二C形臂一起提供所述成像信号发射器的360度旋转。便携式医学成像系统还包括：多个全向轮，允许便携式成像系统的多轴移动；多个传感器，用于检测可移动台的期望移动；控制系统，通过致动多个全向轮中的两个或更多个来对控制便携式成像系统的多轴移动的多个传感器作出响应。
根据另一方面，提供一种便携式医学成像系统。便携式医学成像系统包括：可移动台，具有成像信号发射器和安装在可移动台上的成像传感器；多个全向轮，允许便携式成像系统在平面的通用区域中进行三轴移动。便携式成像系统还包括：多个传感器，用于检测可移动台的期望移动；控制系统，通过致动多个全向轮中的两个或更多个来对控制便携式成像系统的多轴移动的多个传感器作出响应。
根据另一方面，提供一种具有有效的大视场的便携式医学成像系统。便携式医学成像系统包括：可移动台，包括具有第一端和第二端的可移动C形臂；成像信号发射器，附连到所述C形臂的第一端；成像传感器，与成像信号发射器相对地定位并附连到可移动C形臂的第二端。便携式医学成像系统还包括：第一平移装置，将成像信号发射器安装到C形臂的第一端；第二平移装置，将成像传感器安装到C形臂的第二端，其中，成像信号发射器和成像传感器可经由第一平移装置和第二平移装置从医学成像系统的中心轴线移动，使得便携式医学成像系统可操作以捕捉放大的视场。
根据另一方面，便携式医学成像系统包括可移动台、附连到可移动台的机架安装架和可旋转地附连到机架安装架的机架，机架包括：第一C形臂，可滑动地安装到所述机架安装架并能够操作成相对于所述机架安装架滑动。便携式医学成像系统还包括：可滑动地连接到第一C形臂的第二C形臂，第一C形臂和第二C形臂一起提供围绕待成像物体的360度旋转；至少一个线性致动器，安装在第二C形臂上，所述至少一个线性致动器安装成像信号发射器和成像传感器用于在可移动台上的线性轴上移动。便携式医学成像系统还包括：控制系统，用于控制可移动台和至少一个线性致动器的运动并用于控制便携式成像系统的成像。
本公开包括许多方面和实施例，其中在下面的说明书和附图中仅描述了少数几个方面和实施例。
附图说明
图1是根据本公开的一个实施例的成像系统的后视透视图。
图2是根据本公开的一个实施例的成像控制器系统40的示意图。
图3是图1的成像系统的前视透视图。
图4是图1的成像系统的透视图，其中，机架已经围绕X轴旋转90度。
图5是部分地示出线缆布置的机架的透视图。
图6是示出线缆布置的机架的透视图。
图7是示出线缆布置的机架的侧视图。
图8示出了用于可伸缩地控制机架的C形臂的马达组件。
图9A至图9G以60度的增量示出了机架的360度旋转。
图10是配备有本公开的控制系统和全向轮(“全向轮”)并且描绘了传感器阵列的第一示例的便携式医学成像装置的俯视平面图。
图11A和图11B描绘了用于向便携式可移动台的全向轮提供动力的配置。
图12A至图12D描绘了用于便携式医学成像设备的传感器阵列。
图13是用于根据本公开的成像系统中的第一全向轮(“全向轮”)的示例的透视图。
图14是用于本公开的第二全向轮的示例的透视图。
图15是用于本公开的第三全向轮的示例的透视图。
图16是用于本公开的第四全向轮的示例的正视图。
图17A至图17B描绘了另一实施例，其中成像信号发射器和成像信号传感器具有另一平移自由度。
图18A至图18B描绘了允许额外自由度的附加细节。
具体实施方式
为了本申请的目的，术语“代码”、“软件”、“程序”、“应用程序”、“软件代码”、“软件模块”、“模块”和“软件程序”可互换使用以表示可由处理器执行的软件指令。“用户”可以是医生、护士或其他医学专业人员。
现在转到附图，图1是示出根据本公开的一个实施例的诸如计算机断层扫描(CT)、x射线扫描仪的成像系统10的示意图。成像系统10包括可移动台60和机架56。可移动台包括竖直轴59和可旋转地附连到竖直轴的机架安装架58。可移动台60包括两个前全向轮62和两个后全向轮64，它们一起提供可移动台60在X-Y平面中的任何方向上的移动。水平X-Y平面在图1所示的笛卡尔坐标系X轴、Y轴以及竖直轴Z中示出。例如，可以从英国Somerset的Active Robots Limited获得全向轮62、64。安装到可移动台60的壳体的一对手柄13允许用户手动操纵可移动台。
附连到竖直轴59的马达66被设计为使得机架安装架58围绕X轴旋转完整的360度并且马达67在运动控制模块51的控制下沿着z轴竖直地移动机架安装架58。
机架56包括可滑动地连接到机架安装架58的第一C形臂70和可滑动地连接到第一C形臂的第二C形臂72。在所示的实施例中，第一C形臂70和第二C形臂72分别是外部C形臂和内部C形臂。在所示的实施例中，外部C形臂70和内部C形臂72的形状是局部圆形并围绕中心轴线周向旋转，以允许对躺在床26中的患者成像而不需要移动患者。
诸如X射线束发射器的成像信号发射器74安装到第二C形臂72的一侧，而诸如X射线探测器阵列的成像传感器76安装到第二C形臂的另一侧并面向发射器。在此示例中，X射线发射器74发射X射线束，X射线束在穿过患者(未示出)的相关部分之后由X射线检测器或接收器76接收。
在一个实施例中，系统10是设计为考虑手术的多模式x射线成像系统。成像模式包括但不限于荧光透视、2D射线照相术和锥形束CT。荧光透视是医学成像技术，在监视器上显示连续的X射线图像，非常类似于X光照片。2D射线照相术是成像技术，它利用X射线观察人体等非均匀构成且不透明物体的内部结构。CBCT(锥形束3D成像或锥形束计算机断层扫描)也被称为C形臂CT，是一种医学成像技术，由X射线发散的X射线计算机断层扫描组成并形成锥形。也可以采用磁共振成像(MRI)，对于使用强大的磁体和控制它们产生的磁场有适当的预防措施。
可移动台60包括成像控制器系统40，成像控制器系统40用于两个功能：(1)根据需要，控制全向轮62、64、机架安装架58和机架56的移动以将成像信号发射器74相对于患者定位，并控制其他部件运动，(2)一旦实现适当的定位，控制用于对患者进行成像的成像功能。
现在参照图2，本公开的成像控制器系统40通过诸如USB(通用串行总线)接口的I/O接口42连接到通信链路52，I/O接口42通过通信链路52接收信息并且通过通信链路52发送信息。成像控制器系统40包括存储装置44(诸如RAM(随机存取存储器))、处理器(CPU)46、诸如ROM或EEPROM的程序存储装置48以及诸如硬盘的数据存储装置50，所有这些通过总线53通常彼此公共地连接。程序存储装置48存储成像控制模块54和运动控制模块51等，每个模块包含将由处理器46执行的软件。由处理器46执行的运动控制模块51控制可移动台60的轮子62、64以及机架安装架58和机架56中的各种马达，以将可移动台60定位在患者附近并将机架定位在适当的位置以对患者的相关部分成像。如下所述，运动控制模块还可以控制用于定位的附加部件。
由处理器46执行的成像控制模块54控制成像信号发射器74和检测器阵列76以对患者身体成像。在一个实施例中，成像控制模块对身体的不同平面层进行成像并将它们存储在存储器44中。另外，成像控制模块54可以处理存储在存储器44中的图像堆栈并生成三维图像。或者，所存储的图像可以被传输到主机系统(未示出)以进行图像处理。
运动控制模块51和成像控制模块54包括用户界面模块，所述用户界面模块通过显示装置11a和11b以及诸如键盘和按钮12和操纵杆14的输入装置与用户交互。安装在手柄15上的应变计13连接到I/O装置42，并且在用户用手握住手柄15时在任何方向(X，Y，Wag)方便地提供可移动台12的移动，如将在下面更详细地讨论。用户界面模块帮助用户定位机架56。程序存储装置48中的任何软件程序模块和来自数据存储装置50的数据可以根据需要被传送到存储器44并由CPU 46执行。通过三个可旋转的显示臂16、18和20，显示装置11a靠近机架安装架58附连到可移动台60的壳体，并且显示装置11b连接到可移动台。第一显示臂16可旋转地附连到可移动台60，第二显示臂18可旋转地附连到第一臂16，第三显示臂20可旋转地附连到第二显示臂。显示装置11a、11b可以具有触摸屏，以通过使用模块51和54中的用户界面模块也用作输入装置，以为用户提供最大的灵活性。
放置在机架安装架58上的导航标记68通过链路52连接到成像控制器系统40。在运动控制模块51的控制下，标记68允许机架56经由导航系统(未示出)相对于病床或OR(手术室)台自动或半自动定位。标记68可以是光学的、电磁的等。它们也可以放置在其他方便和有用的地方，例如在病床上或其他地方，以使得一个或多个标记在所拍摄的图像中可见，并且可以在对患者或其他要成像的物体拍摄多于一个图像时用于定向连接图像。当拍摄多个一个图像时，标记还可能有助于合并或协调多个图像。
信息可以由导航系统提供以命令机架56或系统10到精确的位置。在一个示例中，外科医生将导航探头保持在期望的方位，以便成像系统10沿着指定的轨迹获取荧光透视或射线照相图像。有利的是，这将消除对侦察镜头的需求，从而减少对患者和手术室(OR)工作人员的X射线照射。机架56上的导航标记68还将允许自动配准由系统10获取的2D或3D图像。标记68还将允许在患者移动的情况下精确地重新定位系统10。标记可以是不透射线的或由其他材料制成，这使得成像专家或其他医学专业人员能够容易地进行协调或导航。导航探头或标记可以根据需要放置，例如，放置在要成像的物体的附近或之上，使得标记不干扰成像或其解释。
在所示的实施例中，系统10如下所述提供6自由度(“DOF”)的大范围运动。在运动控制模块51的控制下，存在两种主要运动模式：可移动台60的定位和机架56的定位。其他定位模式被描述并且也可以被包括。
可移动台60的定位经由四个全向轮62、64来完成。这些轮子62、64允许可移动台60定位在围绕水平面(X，Y，Wag)的全部三个DOF中。“Wag”是系统10围绕竖直轴(Z轴)旋转，“X”是系统沿X轴向前和向后定位，“Y”是系统10沿Y轴的横向运动。在控制模块51的控制下，系统10可以以X、Y和Wag(由于使用全向轮62、64而围绕任何任意Z轴的Wag)的任意组合进行定位，而具有无限的运动范围。特别地，全向轮62,64允许定位在狭窄的空间，狭窄的走廊中，或者用于精确地在OR床或病床的长度上上下移动。
机架56的定位是围绕(Z，倾斜，转子)完成的。“Z”是机架56的竖直定位，“倾斜”是如上所述围绕平行于X轴的水平轴旋转，并且“转子”是如上所述围绕平行于Y轴的水平轴旋转。
与可移动台60定位和机架56定位一起，系统10在六个DOF(X，Y，Wag，Z，倾斜和转子)中提供一定范围的运动以将可移动台60和成像发射器74以及传感器76精确地放置在他们需要的地方。有利的是，无论患者是站起来、坐起来还是躺在床上，都可以进行3D成像而不必移动患者。
系统10的精确位置可以被存储在存储装置50中并且在任何时候被运动控制模块51调用。这不限于机架56的定位，而是还包括系统10由于全向轮62、64和其他运动轴而定位，如下所述。
如图3所示，机架安装架件58、外部C形臂70和内部C形臂72中的每个分别具有彼此面对的一对侧框架86、88、90。多个均匀间隔的辊子84安装在机架安装架58的侧框架86的内侧上。外部C形臂70在侧框架88的外侧上具有一对导轨78。辊子84连接到导轨78。如图所示，辊子84和导轨78被设计成允许外部C形臂70沿着机架安装架58可伸缩地滑动，以允许C形臂围绕其中心轴线相对于机架安装架旋转至少180度。
多个均匀间隔的辊子80安装在外部C形臂70的侧框架88的内侧上。内部C形臂70在侧框架90的外侧具有一对导轨82。辊子80连接到导轨82。如图所示，辊子80和导轨82被设计成允许内部C形臂72沿着外部C形臂70可伸缩地滑动，以允许C形臂围绕其中心轴线相对于外部C型臂旋转至少180度。
因此，如本文所公开的本公开有利地允许机架56围绕其中心轴旋转完整的360度，以在对患者的干扰最小的情况下在成像系统10的定位方面提供最大的灵活性。
在本公开的另一方面中，提供独特的线缆布置以使成像系统10更紧凑并且视觉上更吸引人。如图5和图6所示，线缆托架/线束92包含电缆以在成像控制器系统40与各种马达、X射线发射器74、成像传感器或检测器76以及机架56中的各种电子电路之间传送信号。第一线缆路由器94安装到外部C形臂70的外表面，并且第二线缆路由器96安装到内部C形臂72的外表面。每个线缆路由器94、96具有通孔95、97，线缆托架92从中穿过。
线缆托架92从机架安装架56延伸并在第一C形臂70的外表面上延伸，穿过第一线缆路由器94的通孔95并且在第二C形臂72的外表面上延伸。覆盖第一C形臂70的线缆托架92沿第一圆周方向(如图所示顺时针方向)98延伸并沿与第一圆周方向相反的第二圆周方向(如图所示逆时针方向)99进入第一线缆路由器94，以在第一C形臂的外表面上形成180度的工作回路。
线缆托架92从那里沿第一圆周方向98延伸并沿第二圆周方向99进入第二线缆路由器，以在第二C形臂72的外表面上形成另一工作回路。
与工作回路结合的第一线缆路由器94和第二线缆路由器96的特定位置允许线缆托架92中的松弛，从而为机架56提供完整的360度旋转而不缠结或在线缆托架中引起应力。在所示的实施例中，路由器安装在C形臂的中点附近。
图8示出了马达组件100的一个实施例，其用于相对于机架安装架58可伸缩地旋转外部C形臂70并用于使内部C形臂72相对于外部C形臂旋转。每个马达组件100包括带有编码器反馈的伺服马达102、改变转动比率的齿轮箱104、驱动带轮106、惰轮108以及在驱动带轮和惰轮之间穿过的带110。一个马达组件100安装到机架安装架以相对于机架安装架移动外部C形臂70，并且另一个马达组件靠近所述臂的中心安装到外部C形臂70以相对于外部C形臂移动内部C形臂70。
图9A至图9G以60度增量示出了机架56在逆时针方向上的360度旋转，图9A表示成像传感器76和发射器74的零度位置。图9B表示机架56的60度转动/位置。对于机架56的每个60度转动，马达组件100在运动控制模块51的控制下，将内部C形臂72逆时针方向转动30度，并且还将外部C形臂70逆时针方向转动30°而组合成60度转动。图9G表示机架56的完整的360度转动。可以看出，外部C形臂70和内部C形臂72各自从图9A的原始零度位置移动180度。请注意，图9D和图9G中的发射器74和传感器76从它们在图1和图9A中的位置颠倒过来。例如，如果在一个特定侧上具有发射器或者在一个特定侧上具有传感器是有优势的，则这可能是有利的。本公开使得这些取向成为可能并且容易。
如上面详细描述的，本公开在各种实施例中提供以下益处：(1)使用全向轮62、64，系统在任何X-Y方向上并围绕任何Z轴的Wag旋转的运动；(2)双伸缩式C形机架进行完全360度成像光束旋转；(3)躺在床上、坐立或站立(如站立的CBCT)时进行成像；(4)系统10和机架56位置的存储和调用；(5)准同时多平面X射线成像；(6)通过机器人或导航坐标调用所述位置。
上面在图2中描述了用于便携式医学成像系统的控制系统。这里参照图2和图10进一步解释用于便携式医学成像系统的传感器控制的移动的控制系统。成像控制器系统40包括运动控制部分51和成像控制部分54。输入装置可以包括具有功能按钮12的键盘、手柄13和操纵杆14。这些输入装置中的任何一个都可以控制运动控制部分51和成像控制部分54中的任一个或两个。在运动控制模式和成像控制模式之间的切换可以通过功能按钮、来自显示装置中的一个的触摸屏命令或其他期望的方法来实现。作为运动控制部分51或输入/输出42的一部分，便携式医学成像系统还可以包括智能电话或蜂窝电话链路或全球定位系统(GPS)，其可用于经由通信链路52传送关于患者或成像系统的位置的信息。
图10的控制系统120被描绘为便携式成像控制系统10的平面图，描绘了成像系统10和第一C形臂70的俯视图。全向轮62、64分为前部左侧和右侧的全向轮62，以及后部左侧和右侧的全向轮64。图10还描绘了系统全向轮的三个全方位运动自由度的三个轴。如图所示，它们包括沿y轴向左或向右移动的自由度、沿x轴向前和向后移动的自由度以及沿垂直于由x轴和y轴形成的平面的旋转轴(即竖直轴)Wag的旋转自由度。因此，图10中的竖直轴Wag垂直于图的平面。因为不需要物理旋转轴，所以竖直旋转轴可以根据需要相对于成像系统放置。例如，可以对程序存储装置48进行编程，使得旋转轴Wag与轴59的竖直轴线或操纵杆14的竖直轴线重合。替代的便利放置可以是可移动台60的几何中心(参见图1)或可移动台顶部的拐角。可以进行轴线的任何方便和有用的放置。
图10还可以为在本公开中使用的传感器的讨论提供有用的参考。左传感器101、105安装在左手柄17上，而右传感器103和107安装在右手柄19上。如图所示，第一实施例可以包括这四个传感器101、103、105、107。诸如操作便携式成像装置10的医疗保健专业人员的人可以通过使用手柄17、19和运动控制部分51来定位所述装置。在一个实施例中，运动控制可以具有两种模式，运送模式和微调模式。例如，如果便携式医学成像装置10从医院或其他医疗机构的一个地方运送，则速度可能比微调定位更有价值。因此，推动成像系统10的后部手柄17、19可激活运送模式。推动两个手柄17、19中的任一个可以激活微调模式，其中全向轮62、64的每个运动更慢并且更加慎重。这些模式之间的切换也可以通过适当的编程来实现，允许用户通过功能按钮、命令、触摸屏输入等进行切换。
在微调模式中，运动控制器51可用于使成像装置10返回到设定位置，例如对齐到预定位置。例如，并参照图1，如果成像会话结束，则用户可能希望将成像系统10相对于病床26移动到最左侧的位置。所述位置可以被编程到运动控制器51中并且可能需要沿着图1和图10中描绘的轴线在x方向和y方向上移动。这可以通过使用操作者可用的键盘或功能按钮12、显示装置11a、11b的触摸屏、操纵杆14或预定的施加到手柄17、19的力以及方向来实现。键盘、功能按钮和触摸屏显示装置也可以用于控制成像和运动控制部分，包括全向轮62、64。
全向轮62、64的能力也可以被使用，使得系统使便携式成像装置10围绕特定的竖直轴旋转。这可以是任何方便的轴线，诸如成像系统10的几何中心、成像系统10或其推车的特定特征或部分、安装在成像系统上的机器人的特征等。由全向轮62、64施加的运动也可以与施加到传感器101、103、105、107的力成比例，轻的力可以导致更慢、更谨慎的速度，而更大的力或较重的接触可能导致由全向轮62、64施加更高的速度。另外，施加力的方向可指示便携式成像装置10的期望移动方向。施加到传感器101、103、105、107的力通过运动控制器51被分解成合成矢量和力矩，所述力矩用于根据需要驱动前轮62和后轮64中的每一个，以提供期望的运动。
我们现在使用图10讨论运动的示例。在一个示例中，向前推动左手柄17将操作以使装置前进并将装置向右转。在另一个示例中，推动左手柄17激活传感器101、105以要求向前移动。传感器101、103、105、107可以是应变仪，其解释在传感器101、105的特定方向上(向前)施加力，但没有力施加到传感器103、107。由于没有力施加到右手柄19及其传感器103、107，所以运动控制器51将来自传感器103、107的信号解释为要求带有轻微向前运动的右转。因此，便携式成像装置10通过全向轮62、64以最小的向前移动向右转弯。在实施例中，在此示例中，所有四个轮子62、64可以移动以实现轻微的向右转动。轮62、64可以被单独控制，使得它们的运动一起实现可移动台60的期望的运动。如上所述，这是微调模式下移动的示例。在其他实施例中，取决于期望的移动，可以仅激活左轮62、64或者仅激活右轮62、64。
在另一个示例中，向右推动左手柄17向传感器101、105施加力以呼叫向右侧横向或侧向移动。如果没有向前或向后的力施加到传感器101、105并且没有力施加到右侧传感器103、107，则运动控制器51将信号解释为呼叫没有向前或向后运动的向右横向运动，仍然处于微调模式。因此，全部四个全向轮62、64可以在所示的方向上进行小的运动，即向右运动几毫米或者几英寸。在另一个示例中，前轮62可以在向前方向和向左方向上转动，而后轮64向后转动并向右转动以实现左转或原地旋转。在另一个示例中，将两个手柄17、19推向左侧将会产生运送模式而不是精细运动模式。这可能导致成像装置10向左移动，例如，如图1所示，相对于不是便携式成像装置10的一部分的病床或台26向左移位。同样的，对于沿x轴方向向前推动两个手柄17、19，现在以运送模式而不是微调模式向前推动手推车。虽然参照将力施加到特定手柄17、19和传感器101、103、105、107进行了描述，但应该理解，可以在系统中使用更多或更少的手柄和/或传感器。另外，为了采用微调模式和/或运送模式和/或在手术室周围移动便携式成像装置10，可以在多种不同的配置中产生不同的力和/或运动。
在本公开的实施例中使用的传感器101、103、105、107可以包括很多力传感器。这些力传感器包括应变计、力传感电阻器、压电传感器、压电电容压力传感器、压电电阻和微电子机械系统(MEMS)微尺度应变计。典型地，力传感器具有当用户对传感器施加力时改变的电特性。所述特性可以是当施加力时以可预测的方式增加或减小的电导、电阻或电容。当施加压力时，压电式传感器可能会产生微小的电压。传感器可以是用于检测这种变化的电路(例如惠斯通电桥)的一部分。通过使用多个应变仪或传感器或阵列，用户可以微调施加到全向轮上的所需力的方向。
在图10中并且在下面的示例中使用的传感器101、103、105、107可以用于控制便携式医学成像装置的轮子62、64。这些技术的示例在图11A和图11B中示出。在图11A中，可移动台60被描绘为具有前轮62和后轮64，前轮62和后轮64可以相同或可以不同。在此实施例中，马达1100在运动控制模块51的指导下根据需要向每个轮子传递动力。提供给轮子62、64的动力可以包括手动操作、自动操作或两者的组合。马达1100可以具有多于一个的轴以向车桥1102、1104、1106、1108提供动力，以单独为全向轮62、64提供动力。这允许精确控制每个轮子62、64，以精确放置便携式成像台和安装在其上的成像设备。在一个实施例中，马达1100和每个轴或车桥1102、1104、1106、1108还可以包括旋转编码器或其他反馈机构，以向运动控制模块提供位置反馈。
或者，如图11B所示，可移动台60可以包括本地控制器1120，其用于经由独立马达1122分配动力，所述独立马达1122将为每个全向轮62、64的独立车桥1124、1126、1128、1130提供动力。运动控制模块51可以更简单地通过其自身的马达来维持每个全向轮62、64的单独控制。在此实施例中，每个马达1122可以包括其自己的用于位置反馈的编码器，并且还可以包括位于车桥1124、1126、1128、1130上的编码器或其他反馈机构。可以使用其他用于向轮子62、64供应动力的方法。本地控制器或运动控制模块可以包含计算机程序，所述计算机程序将传感器读数解析成对马达1122和车桥1124、1126、1128、1130中的每个的命令。利用这种技术，全向轮62、64被单独控制，以通过所提供的传感器进行非常准确的移动。来自运动的反馈，诸如来自车桥1124、1126、1128、1130上的旋转编码器或者通过其他装置的反馈可以用于存储给定的位置，以便稍后用于将可移动台恢复到期望的位置。
如上所述，用于感测便携式医学成像系统10的期望方向的传感器101、103、105、107可以安装在手柄17、19中。可选地，传感器101、103、105、107可以安装在操纵杆或其他类型的手柄中，如图12A至图12D所示。在图12A中公开了第一替代实施例。在此控制系统1210中，多个力传感器1212(6个传感器)以圆形布置安装。用户按压控制系统的表面，激活传感器1212以在适当的方向上引导便携式医学成像系统10。所述方向由被激活的传感器1212以及由用户施加的力或压力的量来确定。这与在便携式成像装置10的手柄17、19的上述示例中使用的原理相同。圆形控制装置布置对于在平面内的所有x-y方向上引导便携式成像装置是有用的。围绕预定轴线的旋转也可以通过向上或向下推动操纵杆或通过对键盘或功能按钮输入的命令来实现。例如，将操纵杆按压几秒钟可以命令便携式医学成像装置围绕轴线顺时针旋转，而向上拉动几秒钟可以命令逆时针旋转。
具有相似操作模式的其他示例在图12B至图12D中示出。在图12B中，八个传感器1222被椭圆地布置用于控制系统1220，所述控制系统1220更像暗示向前-向后运动的x方向，就像关于图1和图10讨论的侧手柄一样。更多的传感器1222可以用于对操作者期望的方向更加敏感。在图12C中，控制系统1230包括六个力传感器1232，如图所示以方形模式安装，两个传感器1232用于向前/向后移动，并且四角分布的其余四个传感器1232用于左/右或侧向方向的附加灵敏度。图12D描绘了配置有矩形布置的多个传感器1242的控制系统1240的示例。这种布置在每侧包括三个传感器1242，允许对推车或成像台的横向运动进行更精细的调节。其他配置可以用于引导便携式医学成像系统及其全向轮62、64。
在本公开的实施例中有许多类型的全向轮62、64，例如图13至图16中描绘的那些。与只允许装置沿一个方向(例如向前和向后)移动的传统轮子不同，全向轮允许便携式成像装置在每个方向上移动(例如向前，向后，向左，向右，对角地，弧形等)。因此，全向轮62、64允许便携式成像装置沿任何方向移动。全向轮62、64或Mecanum型轮子通常具有中心轮毂，在其圆周上具有多个更小的轮子或辊子。较小的轮子与轮毂的中心轴线成一定角度，例如45度或90度。图13描绘了全向轮130。此轮子130包括围绕中心轴线A的中心轮毂132，其中多个辊子或轮子134以与中心轴线成大约45度的角度安装在两个非同轴队列136、138中。轮子或辊子134轮流处于地面上，使得转向更容易。这些类型的轮子130在美国专利申请2010/0187779中进行了描述，其全部内容通过引用以其整体并入本文。
在图14中描绘了可用于本公开的另一种类型的全向轮62、64。Mecanum轮140具有带中心轴线A的中心轮毂142。多个辊子144安装在中心轮毂周边上的凸缘146上。在这个示例中，凸缘146以大约45度角弯曲，因此辊子144也以相对于中心轴线大约45度的角度安装。也可以使用其他角度。每个轮子62、64可以被单独提供动力以在期望的方向上引导便携式医学成像推车。这些类型的车轮140在美国专利申请2013/292918中进行了描述，其全部内容通过引用以其整体并入本文。
图15描绘了可用于本公开的另一类型的全向轮62、64，Mecanum轮150。轮子150包括具有中心轮毂轴线A的中心轮毂152和多个平坦圆周表面(未示出)。每个表面安装突出的辐条154，其随后用于安装圆周辊子156。在这个轮子150中，一次只有一个或两个辊子156位于地板或表面上，使转向更容易。这些类型的轮子150在美国专利8011735中进行了描述，其全部内容通过引用以其整体并入本文。
在图16中公开了另一种类型的全向轮62、64，轮子160。轮子160包括中心毂162，其安装两个系列的辐条或安装件164、166。第一系列辐条164中的每一个安装轮子165，轮子165的旋转轴线与轮子160和中心轮毂162的旋转方向相反90度。第二系列辐条166中的每一个安装轮子167，轮子167的旋转轴线也与轮子160的旋转方向相反90度。轮子的第二系列166具有比轮子的第一系列164略大的直径。轮子160可以围绕垂直于其中心毂162的轴线(未示出)旋转。辊子165、167允许轮子容易地改变方向，从而使其成为合适的全向轮62、64。这些类型的轮子160在美国专利申请2015/0130260中进行了描述，其全部内容通过引用以其整体并入本文。本公开的实施例中也可以使用其他类型的Mecanum或全向轮62、64。
一旦便携式成像装置10的位置被设置在手术室中，便携式成像装置10可被锁定到位。例如，全向轮62、64可以被锁定，使得它们不能移动。可选地，可以采用停车支架或其他锁定机构来防止便携式成像装置10的移动。一旦锁定机构被释放，便携式成像装置10再次如本文所述自由地沿任何方向移动。
本公开的优点包括使用上述的三轴三自由度能力将大型设备精确定位在任何期望的位置或方向上的能力。车载GPS系统也可用于跟踪设备的位置并存储和调用设备的使用位置。全向轮62、64的独特的三轴运动能力包括竖直旋转轴线，其可以根据需要进行选择。通过使用运动控制和成像控制，操作员或诊断人员可以将系统的位置与成像设备的期望位置进行协调。如上所述，机架位置可以通过机器人手臂控制或手动控制来完成。由运动控制系统、编码器和全向轮62、64实现的精确定位允许便携式成像系统10具有固定的非移动系统的控制和精度。
运动控制系统、传感器、编码器和系统存储器使便携式医学成像系统可以充当智能系统。传感器允许使用传感器和存储器根据需要定位系统。所述系统包括用于患者的特定图像的精确小运动以及运送模式的能力，例如用于移动到另一个患者或到另一个房间。这允许用户将系统停放在更方便的位置，然后在需要时将成像系统调回到精确位置。系统的存储器使用户能够在稍后需要时快速准确地将图像手推车调回到特定位置。所述系统还可以使用一系列精细运动来拍摄一系列图像以供稍后组合，例如将图像拼接在一起以用于较大的视野。当使用机器人或机器人手臂将成像装置定位在可移动台上时，可移动台能够快速且准确地恢复其位置增加了机器人或机器人手臂的能力，并且可以考虑增加一定范围的运动到这样的医疗机器人。
以上清楚地说明了便携式医学成像系统10的自由度如何有助于定位系统和捕捉图像。同时移动信号发射器和传感器(例如通过以弧形路径旋转它们)的能力允许快速扫描，即计算机断层扫描。同时平移信号发射器和传感器，即在如上所述在x-y平面中平移的能力允许系统也捕获较大物体的图像或增加的视野。如图17A所示，例如，成像系统170可以包括内部臂171，内部臂171例如直接彼此相对地安装信号发射器174和检测器或传感器176。如上所述，发射器174和传感器176安装成使得它们处于180度弧的相对两端。因此，例如，参照图9A至图9G的描述，在机架旋转360度时，区域172被成像装置完全成像。
内部臂171的半径允许对物体172、其一部分或由物体172限定的边界内的焦点进行扫描。物体172的中点居中地位于发射器174和传感器176之间。如图17A所示，来自其源174的信号或x射线束175的发散度或宽度足以捕获目标或物体172的全部方面或包含在由172定义的半径内的物体的一部分。这样，如图17A所示，从发射器174发射的信号或x射线的视场(FOV)能够捕获目标或物体172的所有部分或包含在由172定义的半径内的物体的一部分。应该理解的是，在一些情况下，所述物体实际上可能大于被识别为物体172的区域。如这里所示，传感器176也足够大以捕获从发射器174接收到并透射通过物体172或其图像被需要的部分的X射线或其他信号。
有时，可能需要对大于图17A中所示的视场的目标或物体进行成像。因此，如17B图所示，物体178大于信号的宽度175。然而，在机架旋转360度时，通过移动发射器174和传感器176的位置偏离中心(参见例如，图9A至图9G，示出增量为60度的运动)，获得包含整个物体178的较大视场。如图17B所示，信号发射器174和检测器或传感器176都偏离中心移动特定距离177。在此示例中，移动或偏移的距离足够，使得当机架的内部臂72旋转时，发射器174的视场现在能捕获整个目标或物体178。同样，可以理解的是，所述物体实际上可能比标识为178的部分更大。在此示例中，便携式医学成像推车并没有移动，例如平移，而是信号发射器174和检测器或传感器176在距离中心线的距离为177处处于固定位置，或者被平移为偏离中心达所需的距离177。通过对发射器174和传感器176偏移距离177，发现可以获得更大的视场，而不需要围绕要成像的物体的中心处的焦斑进行旋转，并且不需要传统的O形机架。应该理解的是，发射器174和传感器176的位置可以固定在此位置，或者可以例如沿着平移设备移动，如下面更详细描述。
因此，图17A至图17B描绘了额外的自由度、信号发射器174和检测器或传感器176例如以线性方式进行平移的能力。图18A至图18B描绘了可以实现这一点的至少一种方式的示例。在图18A中，信号发射器174安装在轨道、线性致动器或其他平移装置184上。例如，平移装置184可以安装在线性轨道182中。以类似的方式，在臂171的另一侧上，180度相反之处，传感器或检测器176也安装在轨道、线性致动器或另一平移装置188上，例如在轨道186中。如箭头和虚线表示所描绘，信号发射器174和检测器或传感器176能够在单个轴线上左右移动。因此，发射器174和传感器176能够偏离中心定位，以便增加或缩小成像空间的视场。
由平移装置184、188提供的线性轴可以根据用户的需要定向，从而实际上在任何期望的取向上提供更精确的控制。正如旋转轴可以比使用两个线性轴更精确一样，通过将机架56、外部臂70、内部臂72、机架竖直轴59的z轴以及甚至可移动台60处于期望的取向，这个新轴线可以根据需要放置。因此，如图17B以及图18A至图18B所示，并参照图1，轴线沿x轴放置、向前或向后平移，或沿着y轴放置并左右平移。参照图3，发射器74和传感器76将沿着z轴上下移动。参照图4，在机架56现在水平取向的情况下，新轴线也将如图所示平行于x轴平移。另外，机架和外部臂72在图9B、9C、9E和9F中以各种非水平和非竖直方向定位。因此平移装置184、188沿着可以被称为中间或其他期望取向的方向形成独立的自由度。因此，发射器174和传感器176可以有利地定向成以比传统成像装置更大的视场对特定的损伤、肿瘤或其他医学现象成像。
可根据需要移动或调整发射器174和传感器176以使用现在可能的较大视场。例如，发射器174和传感器176可以依次旋转到若干个位置，以确保完全覆盖目标的期望区域或体积。“目标定位”可以在成像之前完成。期望的位置可以被注意并记录在存储器44中或成像控制模块54中可用的其他存储器中。拍摄图像时，成像操作人员或医疗保健专业人员只需按照所需的一系列图像进行排序。这可以确保完整和准确的覆盖，在每个图像拍摄后完成旋转或移动，以便图像不会模糊。
平移装置或线性致动器可以包括机动电动线性致动器、线性轨道、线性滑轨、滚珠滑轨、机架滑轨、滚珠丝杠等以提供沿着直线的运动。平移装置184、188可以由运动控制模块51控制，从而确保便携式医学成像装置的所有组件的协调运动。具体而言，可以控制平移装置184、188的运动使得它们是相同的。因此，当任一装置向左或向右移动时，另一装置也可以协调的方式移动，从而确保待成像的物体178的覆盖范围并且还确保从发射器174发送的信号遍历患者或其他要成像的物体之后被传感器176捕获。这也防止有害辐射的任何逃逸，并限制患者以及诊断和医疗保健工作者暴露于辐射。信号发射器174和检测器或传感器176的运动被协调和控制，装置在运动控制模块的控制下的其他运动也是如此。在此实施例中，如上文针对便携式医学成像系统10的其他马达或致动器所描述的，每个线性致动器、滚珠丝杠或马达可包括其自己的用于位置反馈的编码器。
在替代实施例中，发射器174和/或传感器176可以固定就位。例如，发射器174和传感器176可以固定在距离中心的距离177处的位置处，使得设备总是以放大的视场成像。在另一个实施例中，如果传感器176的面积相对于发射器174较大，则即使发射器174移动或平移，传感器176也可以是静止的，只要传感器176仍然能够检测到发射器174的透射即可。
平移运动，如图17A至图17B和图18A至图18B所示，可以确保要被成像的物体的覆盖。如果没有这种协调和增强的视场能力，将需要更大的成像装置。也就是说，C臂70和72需要具有更大的直径，以完成对物体178的完全覆盖。在没有外部C形臂70和内部C形臂72的单独移动的情况下，便携式成像装置可能实际上需要完整的圆形、O形机架或机架安装架，以实现完整的360度覆盖。例如，一些现有技术的装置(诸如美国专利7108421所述的)通过将较大的平移设备旋转到围绕物体的不同位置来实现对较大物体的覆盖。较大的运动可能需要例如费用较高的O形机架或机架安装架，并具有移动自由度更大的限制以及手术室环境的限制。
相反，本公开的实施例能够覆盖较大的物体并且通过使用便携式医学成像系统及其部件的小运动而具有成像的更大的视场。运动的示例将参照图1、3和4进行描述。在图1中，例如，机架56处于大致竖直的方向，并且C形臂70、72围绕病床26放置，为患者做好准备。在患者下方的成像发射器74将与患者上方的检测器76配合工作。参照图18A至图18B讨论的示例需要沿左右或水平方向(即在臂171的平面内)移动。参照图，可以看出，这是在y轴方向上的运动。
在图3中，机架56处于相同的竖直方向，但内部臂72已旋转九十度，使得发射器74和传感器76现在水平地取向。这是前面讨论的与y轴平行的“转子”旋转自由度。现在在臂72的平面内平移发射器74和传感器76将是竖直运动，即如图3所示沿着z轴。参照图4，机架56现在已经旋转九十度到水平位置。如果内部臂72配备有图18A至图18B的线性平移装置，发射器74和传感器76将沿图4所示的x轴方向在内部臂72的平面内平移。围绕x轴或与x轴平行的旋转是上面讨论的“倾斜”自由度。因此，尽管发射器74和传感器76自身沿着一个线性轴仅具有单个自由度，但所述轴线可以用于便携式医学成像系统的背景中。因此，根据图1和图4，线性运动可以跨越患者的宽度，或者如图3所示相对于患者竖直上下。
参照这些相同的附图，也可以考虑前面讨论的其他自由度。这样，在图1中，外部臂70和内部臂72允许围绕病床26的旋转自由度。竖直轴59允许竖直平移，即沿着z轴的线性运动。全向轮62、64允许在x-y平面内完全自由移动。当医疗团队希望捕获要安装在病床26上的患者的图像时，也可以使用这些自由度。因此，便携式医学成像系统10允许先前讨论的六个自由度，并且还具有新的线性轴线自由度，如图17A至图17B所示。
这些自由度允许便携式医学成像系统的其他用途。例如，现在可以使用沿着轴线的更小且更精确的受控运动，而不是更大的运动。例如，如图17A至图17B所示，如果要成像的物体大于可以方便地处理的大小，则由平移运动引起的线性自由度由此能够实现放大的视场。
尽管在前面的说明书中已经公开了本发明的若干个实施例，但是应该理解，本发明的所属将想到本发明的许多修改和其他实施例，并受益于在前面的描述和相关附图中呈现的教导。因此应该理解，本发明不限于上文公开的特定实施例，并且许多修改和其他实施例旨在被包括在所附权利要求的范围内。进一步设想，来自一个实施例的特征可以与来自本文描述的不同实施例的特征组合或使用。此外，尽管在此以及在随后的权利要求中使用了特定的术语，但是它们仅用于一般的和描述性的意义，而不是为了限制所描述的发明的目的，也不是限制后面的权利要求。这里引用的每个专利和出版物的全部公开内容通过引用并入，如同每个这样的专利或出版物单独地通过引用并入本文。在下面的权利要求中阐述了本发明的各种特征和优点。

Claims (17)

1.一种医学成像系统，包括：
可移动台；
机架安装架，附连到所述可移动台；
机架，可旋转地附连到所述机架安装架，且所述机架包括：
第一C形臂，可滑动地安装到所述机架安装架并能够操作成相对于所述机架安装架滑动；
第二C形臂，可滑动地连接到所述第一C形臂；以及
成像信号发射器，附连到所述第一C形臂和第二C形臂中的一个，所述第一C形臂和所述第二C形臂一起提供所述成像信号发射器的360度旋转；
成像传感器，安装到所述第一C形臂和所述第二C形臂中的一个。
2.根据权利要求1所述的医学成像系统，还包括：
控制器；
至少三个全向轮，附连到所述可移动台并适于由所述控制器控制，所述全向轮为所述可移动台提供围绕水平面的三个自由度(X，Y，Wag)。
3.根据权利要求2所述的医学成像系统，还包括安装到所述可移动台的应变仪，以允许用户在所述控制器的控制下控制所述全向轮的运动。
4.根据权利要求2所述的医学成像系统，还包括：
第一马达，提供所述第一C形臂相对于所述机架安装架的滑动运动；以及
第二马达，提供所述第一C形臂相对于所述第二C形臂的滑动运动。
5.根据权利要求1所述的医学成像系统，还包括：
线缆托架，包含多个电缆；
第一线缆路由器，具有通孔并安装到所述第一C形臂的外表面，所述线缆托架从所述机架安装架延伸并在所述第一C形臂的所述外表面上延伸，延伸穿过所述第一线缆路由器的所述通孔并在所述第二C形臂的外表面上延伸。
6.根据权利要求5所述的医学成像系统，其中所述线缆托架沿第一圆周方向延伸并且沿与所述第一圆周方向相反的第二圆周方向进入所述第一线缆路由器，以在所述第一C形臂的所述外表面上产生180度工作回路。
7.根据权利要求5所述的医学成像系统，还包括具有通孔并安装到所述第二C形臂的外表面的第二线缆路由器，所述线缆托架延伸穿过所述第二线缆路由器的所述通孔。
8.根据权利要求7述的医学成像系统，其中，所述线缆托架沿第一圆周方向延伸并沿与所述第一圆周方向相反的第二圆周方向进入所述第二线缆路由器，以在所述第二C形臂的所述外表面上形成工作回路。
9.根据权利要求5所述的医学成像系统，还包括：
线缆托架，包含多个电缆；
第一线缆路由器，具有通孔并安装到所述第一C形臂的外表面，所述线缆托架从所述机架安装架延伸并在所述第一C形臂的所述外表面上延伸，延伸穿过所述第一线缆路由器的所述通孔并在所述第二C形臂的外表面上延伸；
第二线缆路由器，具有通孔并安装到所述第二C形臂的外表面，所述线缆托架延伸穿过所述第二线缆路由器的所述通孔；
其中所述线缆托架沿第一圆周方向延伸并且沿与所述第一圆周方向相反的第二圆周方向进入所述第一线缆路由器，以在所述第一C形臂的所述外表面上产生180度工作回路；且
其中，所述线缆托架沿所述第一圆周方向延伸并沿所述第二圆周方向进入所述第二线缆路由器，以在所述第二C形臂的所述外表面上产生180度工作回路。
10.一种提供6自由度运动的医学成像系统，包括：
可移动台，包括至少四个全向轮，所述全向轮附连到所述可移动台并且适于将所述可移动台定位在围绕x-y水平面的全部三个自由度(X，Y和Wag)中；
机架安装架，可旋转地附连到所述可移动台；
机架，可旋转地附连到所述机架安装架，且所述机架包括：
第一C形臂，可滑动地安装到所述机架安装架并适于相对于所述机架安装架沿圆周方向滑动；
第二C形臂，可滑动地连接到所述第一C形臂并且适于相对于所述第一C形臂在圆周方向上滑动；以及
成像信号发射器，附连到所述第一C形臂和第二C形臂中的一个，所述第一C形臂和所述第二C形臂一起提供所述成像信号发射器的360度旋转；
成像传感器，安装到所述第一C形臂和所述第二C形臂中的一个。
11.根据权利要求10所述的医学成像系统，还包括：
控制器，连接到所述全向轮；以及
操纵杆，安装到所述可移动台，以允许用户在控制器的控制下控制所述全向轮的运动。
12.根据权利要求10所述的医学成像系统，还包括：
第一马达，提供所述第一C形臂相对于所述机架安装架的滑动运动；以及
第二马达，提供所述第一C形臂相对于所述第二C形臂的滑动运动。
13.根据权利要求10所述的医学成像系统，还包括：
线缆托架，包含多个电缆；
第一线缆路由器，具有通孔并安装到所述第一C形臂的外表面，所述线缆托架从所述机架安装架延伸并在所述第一C形臂的所述外表面上延伸，延伸穿过所述第一线缆路由器的所述通孔并在所述第二C形臂的外表面上延伸。
14.根据权利要求13所述的医学成像系统，其中，所述线缆托架沿第一圆周方向延伸并且沿与所述第一圆周方向相反的第二圆周方向进入所述第一线缆路由器，以在所述第一C形臂的所述外表面上产生180度工作回路。
15.根据权利要求13所述的医学成像系统，还包括具有通孔并安装到所述第二C形臂的外表面的第二线缆路由器，所述线缆托架延伸穿过所述第二线缆路由器的所述通孔。
16.根据权利要求15所述的医学成像系统，其中所述线缆托架沿第一圆周方向延伸并沿与所述第一圆周方向相反的第二圆周方向进入所述第二线缆路由器，以在所述第二C形臂的所述外表面上形成工作回路。
17.根据权利要求10所述的医学成像系统，还包括：
线缆托架，包含多个电缆；
第一线缆路由器，具有通孔并安装到所述第一C形臂的外表面，所述线缆托架从所述机架安装架延伸并在所述第一C形臂的所述外表面上延伸，延伸穿过所述第一线缆路由器的所述通孔并在所述第二C形臂的外表面上延伸；
第二线缆路由器，具有通孔并安装到所述第二C形臂的外表面，所述线缆托架延伸穿过所述第二线缆路由器的所述通孔；
其中，所述线缆托架沿第一圆周方向延伸并且沿与所述第一圆周方向相反的第二圆周方向进入所述第一线缆路由器，以在所述第一C形臂的所述外表面上产生180度工作回路；且
其中，所述线缆托架沿所述第一圆周方向延伸并沿所述第二圆周方向进入所述第二线缆路由器，以在所述第二C形臂的所述外表面上产生180度工作回路。
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US20210315531A1 (en) 2021-10-14
US20170215826A1 (en) 2017-08-03
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